Merge pull request #58 from chu-aie/entelecheia/issue57

Entelecheia/issue57
chu-aie · May 27, 2024 · c18fcfe · c18fcfe
2 parents 6d4883c + 50ea905
commit c18fcfe
Show file tree

Hide file tree

Showing 15 changed files with 2,400 additions and 1 deletion.
diff --git a/src/cobots2024/book/_toc.yml b/src/cobots2024/book/_toc.yml
@@ -62,7 +62,11 @@ parts:
           - file: week13/move_group
           - file: week13/planning_scene_monitor
           - file: week13/trajectory_processing
-          - file: week13/moveit_task_constructor
+      - file: week14/index
+        sections:
+          - file: week14/motion_planning_python_api/index
+          - file: week14/jupyter_notebook_prototyping/index
+          - file: week14/jupyter_notebook_prototyping/src/moveit_notebook_tutorial
   - caption: Projects
     chapters:
       - file: projects/index

diff --git a/src/cobots2024/book/week14/index.md b/src/cobots2024/book/week14/index.md
@@ -0,0 +1,5 @@
+# Week 14
+
+```{tableofcontents}
+
+```
diff --git a/src/cobots2024/book/week14/jupyter_notebook_prototyping/CMakeLists.txt b/src/cobots2024/book/week14/jupyter_notebook_prototyping/CMakeLists.txt
@@ -0,0 +1,4 @@
+install(
+  DIRECTORY config launch src
+  DESTINATION share/${PROJECT_NAME}
+)
diff --git a/...ots2024/book/week14/jupyter_notebook_prototyping/config/jupyter_notebook_prototyping.rviz b/...ots2024/book/week14/jupyter_notebook_prototyping/config/jupyter_notebook_prototyping.rviz
@@ -0,0 +1,287 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PlanningScene1
+        - /Trajectory1
+      Splitter Ratio: 0.5
+    Tree Height: 583
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: moveit_rviz_plugin/PlanningScene
+      Enabled: true
+      Move Group Namespace: ""
+      Name: PlanningScene
+      Planning Scene Topic: /moveit_cpp/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.20000000298023224
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          panda_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_leftfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_rightfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+    - Class: moveit_rviz_plugin/Trajectory
+      Color Enabled: false
+      Enabled: true
+      Interrupt Display: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        panda_hand:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_leftfinger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        panda_rightfinger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Loop Animation: false
+      Name: Trajectory
+      Robot Alpha: 0.5
+      Robot Color: 150; 50; 150
+      Robot Description: robot_description
+      Show Robot Collision: false
+      Show Robot Visual: true
+      Show Trail: false
+      State Display Time: 0.05 s
+      Trail Step Size: 1
+      Trajectory Topic: /display_planned_path
+      Value: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: panda_link0
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.943387746810913
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.3850630223751068
+        Y: -0.21364367008209229
+        Z: 0.6843962073326111
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.45039814710617065
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.4703981876373291
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 812
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000021600000486fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000023000000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f0000043d000000d300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004300fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c00730047007500690100000482000000430000004300ffffff000000010000010f00000486fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f00000486000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000026b0000048600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  RvizVisualToolsGui:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Trajectory - Trajectory Slider:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1533
+  X: 255
+  Y: 198
diff --git a/...ots2024/book/week14/jupyter_notebook_prototyping/config/jupyter_notebook_prototyping.yaml b/...ots2024/book/week14/jupyter_notebook_prototyping/config/jupyter_notebook_prototyping.yaml
@@ -0,0 +1,18 @@
+planning_scene_monitor_options:
+  name: "planning_scene_monitor"
+  robot_description: "robot_description"
+  joint_state_topic: "/joint_states"
+  attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
+  publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene"
+  monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
+  wait_for_initial_state_timeout: 10.0
+
+planning_pipelines:
+  #namespace: "moveit_cpp"  # optional, default is ~
+  pipeline_names: ["ompl"]
+
+plan_request_params:
+  planning_attempts: 1
+  planning_pipeline: ompl
+  max_velocity_scaling_factor: 1.0
+  max_acceleration_scaling_factor: 1.0